@Gero Gero, sorry to bother you again with some new questions. I am studying the code you provided and want to learn the knowledge behind your calculation from the input numbers to the final gait. I saw there're a bunch of equations that form the longitudinal and vertical movement, then you use these values and create angles for different legs or arms. So could you please help me explain what's behind a little bit so I can better understand all the processes you've made. Thanks!

@Gero Hi Gero, I have more questions when I am run the python script. How can I control the speed of the bittle? I've already known if I increase the number of frames, I can lower the speed. But I wonder if I have the fixed amount of frames, how I can change the total time of the function to run one loop. Thanks for your help!

Thanks Gero! So to be more specific, how can I get approach to the kinematic model? I have read some posts in our forum and there's no specific method I could use to calculate and generate a number array. Thanks a lot for your help!

Thanks Gero, I've solved the problem by using the Visual Studio Code and got your stimulation run! Appreciate!